imano yuta / Mbed 2 deprecated sahaquiel_raspi_uart_test

skipper_raspi_uart_test

Dependencies:   mbed MPU6050_2 HMC5883L_4 SDFileSystem3

Diff: main.cpp

Revision:
21:ca8f35e24e66
Parent:
20:011977a37394
Child:
22:a19be3b505b7
--- a/main.cpp	Sat Feb 16 02:50:19 2019 +0000
+++ b/main.cpp	Sat Feb 16 09:29:11 2019 +0000
@@ -326,7 +326,13 @@
     SensingHMC();
     DebugPrint();
     
-    while(nowAngle[YAW] <= nowAngle_HMC+5 && nowAngle[YAW] >= nowAngle_HMC-5){
+    float HighTargetYaw = nowAngle_HMC+5;
+    float LowTargetYaw = nowAngle_HMC-5;
+    
+    if(HighTargetYaw >= 360.0) HighTargetYaw = HighTargetYaw - 360.0;
+    if(LowTargetYaw < 0) LowTargetYaw = LowTargetYaw + 360.0;
+    
+    while(nowAngle[YAW] <=HighTargetYaw  && nowAngle[YAW] >= LowTargetYaw){
         MoveCansat('M');
         SensingMPU();
     }